Mobile medical imaging robot

ABSTRACT

A mobile medical imaging robot is disclosed. The robot comprises a medical imaging device, and a vehicle configured to carry the medical imaging device. The vehicle is motorized so as to move on a surface, such the floor of an examination room. The robot further comprises a cable designed to link said vehicle to a wall of a room, such as a medical examination room. In at least one non-limiting embodiment, motorized robot movements along the surface are controlled manually by a user.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is a continuation of co-pending International (PCT)Application No. PCT/IB2013/002948, filed Dec. 12, 2013, the contents ofwhich are incorporated by reference herein.

BACKGROUND

This disclosure relates to mobile medical imaging robots, and to medicaloperating methods using such mobile medical imaging robots.

These mobile medical imaging robots usually comprise a medical imagingdevice supported by a vehicle, this vehicle being motorized or not. Mostoften, mobile medical imaging robots are free, their moving magnitude isnot limited as it would be if they were for instance cable linked, thatis to say linked to the structure, for example to the wall of anexamination room, with a cable.

When the mobile medical imaging robots are free, they can move freelyand the driving of their move is quite simple and easy, but theiralimentation in power and data, for example wireless, may become morecomplex.

On the contrary, when the mobile medical imaging robots are cable linkedto a wall, their moving magnitude is limited and causing an excessivemoving magnitude may endanger the cable and or the cable connections,while at the same time the presence of permanent cable connections makeseasier transfer, whether of power or data. Especially providing highalimentation power to provide high image quality during a long time willbe much easier with a medical imaging robot cable linked to a wall ofthe examination room.

However, with cable linked mobile medical imaging robots, out ofsecurity reasons, all the more important in medical environment, movingas well as moving driving are made fully automatic, the user commandbeing limited to a simple click asking to remove and park the robot orto bring the robot closer to an examination table, both positions beingpredetermined, and the traveling paths in between being predeterminedtoo. Automatism failure is less frequent than human failure.

According to a prior art, for example described in patent applicationsFR 2953119 or FR 2945524, it is known a mobile medical imaging robotmanaged by a complete navigation system which ensures a completesecurity of all moves of this mobile medical imaging robot, driving ofmoving motorized robot being automated, but which is relativelyexpensive.

SUMMARY

The exemplary non-limiting embodiments described herein are configuredto alleviate the above mentioned drawbacks.

More particularly, the exemplary non-limiting embodiments describedherein and all combinations thereof aim to provide for a mobile medicalimaging robot which is cheaper than in the prior art. Providing a manualdriving of the motorized moving of the robot allows for suchsimplification which lowers costs. However, this is performed at theprice of lowering the security level of the robot moving control, whichstill remains sufficient.

Then, according to exemplary non-limiting embodiments, adding somesecurity sensors to this motorized moving manually driving restores ahigh level of security with respect to robot moving control, withlimited additional expenses. All in all, this more manual robot with atleast an added security sensor, provides for a comparable level ofsecurity with respect to robot moving control, with the benefit of areduced complexity and of a reduced cost.

In one non-limiting exemplary aspect, a mobile medical imaging robot isdescribed comprising: a medical imaging device; a motorized vehiclecomprising at least one motor and configured to carry and move themedical imaging device along a surface; and a cable configured to linkthe vehicle to the surface or a wall extending from the surface, whereinthe motorized vehicle are driven manually by a user.

The wall or surface may be a surface or a vertical wall of anexamination room. The surface or wall maybe a partition or may be ahorizontal wall, like a floor or a ceiling. An examination room is aroom where patients can be examined, usually on a patient table, thisexamination room being in a building, often in a hospital or in aclinic. This cable link is preferably a permanent link, at the vehicleside as well as at the examination room wall side, so a link that cannotbe cancelled by a simple unplug, but on the contrary would need a realdisassembly.

In at least one exemplary non-limiting embodiment, a mobile medicalimaging robot is disclosed, wherein the robot includes a cable linked toan examination room, wherein the robot's movements along a surface, forexample, on a floor of an examination room are motorized and whereinsaid motorized moving is driven manually by a user. In some suchembodiments, the robot is cable linked to any wall of this examinationroom, including floor or ceiling or partition.

A complementary advantage is achieved with a medical operating methodalternating, in a same examination room, either bringing closer, to apatient table, a mobile medical imaging robot according to any exemplarynon-limiting embodiments described herein, for one or moreinterventional performances, or removing, from a patient table, saidmobile medical imaging robot according to any exemplary non-limitingembodiments described herein, for one or more surgical performances.

At least one exemplary non-limiting embodiment comprises one or more ofthe following features, which can be taken separately or together,either in partial combination or in full combination. Preferredembodiments may be combined with any of preceding exemplary non-limitingembodiments.

In at least one exemplary non-limiting embodiment, said motorized movingcan only be driven manually by a user. That way, the driving of themotorized moving being always purely manual, the system managing themoving of the robot may become very simple.

In at least one exemplary non-limiting embodiment, said robot comprisesa human machine interface, preferably tactile, more preferably ajoystick, adapted to perform said manual driving. Again, this humanmachine interface is very simple, even if it may be considered as lessergonomic than vocal command for example, and it is more secure.

In at least one exemplary non-limiting embodiment, said human machineinterface is located on said vehicle, preferably at a height rangingfrom 0.80 m to 1.50 m. That way, the user will drive the moving robotwhile simultaneously walk beside the moving robot.

In In at least one exemplary non-limiting embodiment, said human machineinterface is power assisted. This type of human machine saves physicaleffort of the user, all the more interesting when the robot is quiteheavy.

In at least one exemplary non-limiting embodiment, said human machineinterface transmits any planar user move, preferably any translation orrotation or combination thereof, to said vehicle so that said vehicleperforms corresponding move. This makes easier the driving for the userwhich can directly make the robot move exactly the way he wants.

In at least one exemplary non-limiting embodiment, only a limited numberof types of moves can be performed by said vehicle, wherein among saidlimited number of types of moves, preferably there is a rotation arounda vertical axis containing the isocenter of said medical device and/ortwo translations orthogonal to each other. Advantageously, among saidlimited number of types of moves, there only are a rotation around avertical axis containing the isocenter of said medical device and twotranslations orthogonal to each other. Although this is less practicalfor the user who is allowed only a limited type of moves, this makes thesystem managing the move of the robot, which is integrated in the robot,again simpler.

In at least one exemplary non-limiting embodiment, at least power forsaid motorized vehicle is transmitted on said cable, and on said cableis also preferably transmitted power for said medical device and/orcooling for said medical device and/or video data from said medicaldevice. Since a cable is already present to transmit power to the robot,which allows for a better image quality which can be maintained longer,it is also useful to use this already present cable to transmit otherfluids or data too, especially cooling fluids which would otherwise needa dedicated cable or added complexity to be transmitted.

In at least one exemplary non-limiting embodiment, said cable isflexible, and said cable is preferably disposed within and surrounded bya flexible chain. A flexible cable allows for a broader scope of movesof the robot without endangering the connections of the cable. Aflexible chain is simultaneously a flexible element and a robust elementthat would be a first level of protection for the connections of thecable, if the moving amplitude of the robot were to become excessive.

In at least one exemplary non-limiting embodiment, said cable ispermanently fixed to said vehicle, and wherein said cable is preferablypermanently fixed to said examination room wall once said robot isinstalled in said examination room. This is a situation where the robotis permanently fixed to the examination room, where the moves are themore limited both in direction and in magnitude, where one wouldnaturally think of automatically driven moves. However, still manuallydriving the motorized moving of the robot allows for a simpler robot andthereby for a less expensive robot.

In at least one exemplary non-limiting embodiment, said robot comprisesat least one security sensor structured to detect excessive cable move,and preferably to mechanically detect excessive cable move. Because ofthe great liberty given to user in driving the motorized moving of therobot, out of security reasons, a sensor, especially a robust mechanicalsensor, will detect and will react, without risk or with reduced risk offailure, any move presenting an excessive magnitude which couldotherwise endanger the connections of the cable, whether its connectionto the robot or its connection to the wall of the examination room.

In at least one exemplary non-limiting embodiment, said robot comprisesa cable security system adapted to detect excessive cable tension so asto stop further move of said vehicle leading to still higher cabletension, said cable security system preferably comprising a sensorstructured to mechanically detect excessive cable tension. Indeed, anexcessive cable tension could endanger the cable itself as well as theconnections of the cable.

In at least one exemplary non-limiting embodiment, said robot comprisesa rotation security system adapted to detect excessive vehicle rotationso as stop further vehicle rotation in the same direction, a thresholdof said excessive vehicle rotation being preferably at most one fullturn, said rotation security system preferably comprising a sensorstructured to mechanically detect excessive vehicle rotation. Indeed, anexcessive vehicle rotation, in the same direction, could cause a cableentanglement which could result in endangering the cable itself as wellas the connections of the cable. This threshold of said excessivevehicle rotation may be more preferably at most half a turn.

In at least one exemplary non-limiting embodiment, said medical deviceis a C-arm, preferably an X-ray C-arm. This type of medical device needsto be moved from time to time, since it may be needed in some situationsand not be needed in other situations, while remaining permanently fixedto a wall of an examination room.

In at least one exemplary non-limiting embodiment, said medical robotweight is above 600 kg, preferably above 800 kg. Since this robot isquite heavy, some kind of motorization is very interesting, whilekeeping the driving very simple, for instance fully manual, isinteresting too, in order to keep the costs at a reasonable or cheaperlevel than fully automatized systems. In the prior art, heavy systemseither don't move or they are fully automatized, moving and driving ofthe moving, user input being often limited to clicking a button to movethe robot between two predetermined positions with predeterminedtraveling in between too.

In at least one exemplary non-limiting embodiment, a mobile medicalimaging robot comprises: a medical imaging device; a motorized vehiclecomprising at least one motor and configured to carry and move themedical imaging device along a surface; and a cable configured to linkthe vehicle to a surface; and at least one movement monitoring systemcomprising at least one sensor, said movement monitoring systemconfigured to prevent any movement beyond a corresponding acceptablemovement threshold, wherein the medical imaging device, under usercontrol, is configured to move away from an examination table to allowaccess to a patient, and to move toward and about the examination tableto a desirable location for taking images of the patient correspondingto an area of interest.

In some such embodiment, the mobile medical imaging robot furthercomprising a cable security system configured to detect when cabletension exceeds a predetermined acceptable value and prevent furthermovement of the motorized vehicle leading to still higher cable tension,wherein the cable is flexible and is disposed within a flexible chain.

Further features and advantages of the exemplary non-limitingembodiments described herein will appear from the following descriptionof, with reference to the accompanying drawings listed hereunder.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 shows an example of a mobile medical imaging robot according toat least one exemplary non-limiting embodiment.

FIG. 2 shows an example of a mobile medical imaging robot according toat least one exemplary non-limiting embodiment, shown with anexamination table in its neighborhood.

FIG. 3 shows an example of cable linking, to a ceiling of an examinationroom, an example of a mobile medical imaging robot according to at leastone exemplary non-limiting embodiment.

FIG. 4 shows a detail of FIG. 3, an example of an end of a cablelinking, to a ceiling of an examination room, an example of a mobilemedical imaging robot according to at least one exemplary non-limitingembodiment.

FIG. 5 shows a detail of FIG. 4, an example of security sensors locatedat an end of a cable linking, to a ceiling of an examination room, anexample of a mobile medical imaging robot according to at least oneexemplary non-limiting embodiment.

DETAILED DESCRIPTION

FIG. 1 shows an example of a mobile medical imaging robot according toat least one exemplary non-limiting embodiment. The mobile medicalimaging robot comprises a vehicle 1 supporting a medical imaging device2 which is a C-arm. The vehicle 1 is mobile on a floor 17 of anexamination room while being linked to the ceiling 16 of thisexamination room by a cable 3.

The C-arm 2 is held on the vehicle 1 by a horizontal arm 15. The C-arm 2can glide in the horizontal arm 15, following the C shape, whichhorizontal arm 15 can also rotate around a horizontal axis. The C-arm 2comprises a source 13 of emitted signal which is an X-ray tube and adetector 14 which detects X-ray emitted radiation. Source 13 anddetector 14 are located at respective ends of the C-arm 2.

The vehicle 1 is supported by motorized wheels 9, preferably two ofthem, and by free wheels 11, preferably two of them. Motorized wheels 9and free wheels 11 are linked by a linking element 10. Here, motorizedwheels 9 and free wheels 11 are not directly visible because they arehidden under the cover of vehicle 1.

A humane machine interface 8 which is a joystick is located on the coverof the vehicle 11. This joystick 8 is located sufficiently high to bemanipulated by a user who is simultaneously walking by the moving robot.

On the top of the vehicle 1, there is a mast 7. At upper end of the mast7, there is a saucer 6. The cable 3 goes into the mast 7 through thesaucer 6. The cable chain 30 surrounding the cable 3 is connected to thesaucer 6 at one end. The saucer 6 allows for a vertical rotation, aroundthe mast 7, of the portion of the cable 3 being outside this mast 7.

The cable 3 goes by a pivot 5 before going through a cable guide 4 to beconnected to the ceiling 16. The cable chain 30 surrounding the cable 3is connected to the pivot 5 at the other end. The pivot 5, which allowsone end of the cable chain 30 to rotate vertically around it, is fixedto the ceiling 16.

The vehicle 1 may preferably move according to only three predeterminedtypes of move, all commanded by user through joystick 8. The vehicle 1may translate along horizontal axis T1 which is the longitudinal axis ofthe vehicle 1 linking motorized wheels 9 to free wheels 11. Free wheels11 can freely rotate around a vertical axis too in order to be orientedin any horizontal direction. The vehicle 1 may translate alonghorizontal axis T2 which is orthogonal to horizontal axis T1. Thevehicle 1 may also rotate around a vertical axis AV which contains theisocenter 12 of the C-arm 2. The isocenter 12 of the C-arm 2 is thepoint around which the C-arm may be rotated when taking images of apatient lying on an examination table.

FIG. 2 shows an example of a mobile medical imaging robot according toat least one exemplary non-limiting embodiment, shown with anexamination table in its neighborhood. An examination table 18comprising a support 19 of a tray 20 is in position so that the C-arm 2may take images of a patient who would lie on the tray 20. A screen 21held on a rail fixed on the ceiling 16 may display some of the imagestaken by the C-arm 2.

A user can drive the motorized moving of the vehicle 1 by manipulatingthe joystick 8. A user may remove the robot from the examination table18 with a translation T1 and then bring it again close to theexamination table 18 again, by the reverse translation T1. By anothertranslation T1 and or by a translation T2, user may center the C-arm onanother part of the tray 20. User may also rotate vertically the robotaround vertical axis AV, for example clockwise, so as to have betteraccess to the tray 20 and to the patient who would lie on it, forexample to perform some acts about this patient, and then rotate againvertically the robot around vertical axis AV, but this timecounter-clockwise, so as to replace the robot in the imaging position.

FIG. 3 shows an example of cable linking, to a ceiling of an examinationroom, an example of a mobile medical imaging robot according to at leastone exemplary non-limiting embodiment. At upper end of mast 7, one endof the cable chain 30 surrounding and protecting cable 3, is fixed tothe saucer 6. Here the cable 3 is not visible within the cable chain 30.The saucer 6 allows for this end of the cable chain 30 to verticallyrotate around upper end of mast 7. The other end of cable chain 30 isfixed to the pivot 5. The pivot 5 allows for this other end of the cablechain 30 to vertically rotate around the pivot 5. Just above the saucer6, there is a security sensor 22 which is an anti over tensioningdevice, which means security sensor 22 detects an excessive tension ofcable 3 before cable 3 itself or cable 3 connections become endangered.

FIG. 4 shows a detail of FIG. 3, an example of an end of a cablelinking, to a ceiling of an examination room, an example of a mobilemedical imaging robot according to at least one exemplary non-limitingembodiment. A security sensor 22 detects whether there is an excessivetension of cable 3 before cable 3 itself or cable 3 connections becomeendangered, whereas another security sensor 25 detects whether there isan excessive vertical rotation in the same direction of the robot, toprevent entanglement of the cable 3 which could become harmful, ifexcessive, either for the cable 3 itself or for the cable 3 connections.

Both security sensors 22 and 25 are located just above saucer 6, in thevicinity of one end of the cable chain 30.

FIG. 5 shows a detail of FIG. 4, an example of security sensors locatedat an end of a cable linking, to a ceiling of an examination room, anexample of a mobile medical imaging robot according to at least oneexemplary non-limiting embodiment. Security sensor 22 detects anexcessive tension of cable 3. Security sensor 22 mechanically detectssuch an excessive tension of cable 3. Indeed, security sensor 22comprises one or more springs 23 which once compressed, because of anexcessive tension of cable 3, trigger one or more switches 24 which inturn will trigger prevention of further cable 3 extension. So, securitysensor 22, when detecting an excessive tension of cable 3, will lead toa blocking stopping any further extension of cable 3.

Security sensor 25 detects an excessive rotation of cable 3 in the samedirection. Indeed, security sensor 25 comprises an encoder 29 whichdetects the angular rotation of a chain support 26 with respect to aring 28 belonging to mast 7 via a ball bearing 27. Once this angularrotation exceeds a predetermined threshold, for example one full turn,or preferably half a turn, then further rotation in the same directionis prevented by a blocking. An alternative security sensor 25 tomechanically detect an excessive rotation of cable 3 in the samedirection could be a mechanical rotation stop.

The written description uses exemplary non-limiting embodiments andexamples to disclose the invention, including the best mode, and also toenable any person skilled in the art to practice the invention,including making and using any devices or systems and performing anyincorporated methods. The patentable scope of the invention is definedby the claims, and may include other examples and embodiments that occurto those skilled in the art. Such other examples and embodiments areintended to be within the scope of the claims if they have structuralelements that do not differ from the literal language of the claims, orif they include equivalent structural elements with insubstantialdifferences from the literal language of the claims.

What is claimed is:
 1. A mobile medical imaging robot comprising: amedical imaging device; a motorized vehicle comprising at least onemotor and configured to carry and move the medical imaging device alonga surface; and a cable configured to link the vehicle to the surface ora wall extending from the surface, wherein the motorized vehicle aredriven manually by a user.
 2. The mobile medical imaging robot of claim1, wherein said motorized vehicle are driven by a user from a locationaway from where the mobile medical imaging robot is located.
 3. Themobile medical imaging robot of claim 1 further comprising a humanmachine interface configured to perform said manual driving.
 4. Themobile medical imaging robot of claim 3, wherein the human machineinterface comprises an input device, said input device comprising one ormore of a joystick, pushbutton, rotating knob, and track ball.
 5. Themobile medical imaging robot of claim 4, wherein the human machineinterface is configured to provide tactile feedback to the user.
 6. Themobile medical imaging robot of claim 4, wherein the human machineinterface is power assisted.
 7. The mobile medical imaging robot ofclaim 4, wherein the human machine interface is configured so that inputdevice movements generated by the user effectuate corresponding similarmovements performed by the motorized vehicle.
 8. The mobile medicalimaging robot of claim 7, wherein the device movements comprise planartranslational and/or rotational movements thereof which correspond tosimilar translational and/or rotational movements by the motorizedvehicle.
 9. The mobile medical imaging robot of claim 7, wherein anumber of movements can be performed by said vehicle, wherein saidmovements include rotational movements about a vertical axis, and atleast two translational movements orthogonal to each other.
 10. Themobile medical imaging robot of claim 9, wherein the vertical axiscontains the isocenter of the medical imaging device.
 11. The mobilemedical imaging robot of claim 1, wherein the cable transmits at leastone of: power to the motorized vehicle, power to the medical imagingdevice, movement signals from the human machine interface, cooling forthe medical imaging device, patient data, and imaging data from saidmedical imaging device.
 12. The mobile medical imaging robot of claim 1,wherein the cable is flexible and is disposed within and surrounded by aflexible chain.
 13. The mobile medical imaging robot of claim 12,further comprising a cable security system configured to detect whencable tension exceeds a predetermined acceptable value and preventfurther movement of the motorized vehicle leading to still higher cabletension.
 14. The mobile medical imaging robot of claim 13, furthercomprising a rotation security system configured to detect vehiclerotation in a direction beyond predetermined acceptable value andprevent further rotation of the vehicle in the direction.
 15. The mobilemedical imaging robot of claim 14, wherein the cable security systemcomprises a sensor configured to mechanically detect excessive cabletension and the rotation security system comprises a sensor configuredto mechanically detect excessive rotation of the vehicle in anydirection.
 16. The mobile medical imaging robot of claim 1, wherein themedical imaging device is an x-ray c-arm.
 17. The mobile medical imagingrobot of claim 1, wherein the medical imaging device, under usercontrol, is configured to move away from an examination table to allowaccess to a patient, and to move toward and about the examination tableto a desirable location for taking images of the patient correspondingto an area of interest.
 18. A mobile medical imaging robot comprising: amedical imaging device; a motorized vehicle comprising at least onemotor and configured to carry and move the medical imaging device alonga surface; and a cable configured to link the vehicle to a surface; andat least one movement monitoring system comprising at least one sensor,said movement monitoring system configured to prevent any movementbeyond a corresponding acceptable movement threshold, wherein themedical imaging device, under user control, is configured to move awayfrom an examination table to allow access to a patient, and to movetoward and about the examination table to a desirable location fortaking images of the patient corresponding to an area of interest. 19.The mobile medical imaging robot of claim 18, further comprising a cablesecurity system configured to detect when cable tension exceeds apredetermined acceptable value and prevent further movement of themotorized vehicle leading to still higher cable tension, wherein thecable is flexible and is disposed within a flexible chain.
 20. Themobile medical imaging robot of claim 19, wherein the medical imagingdevice comprises an x-ray c-arm.